version: 66.06
glider: 523
mission: 4
dive: 419
start: 6 8 113 13 34 49
data:
$ID,523
$MISSION,4
$DIVE,419
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44274.617
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,132505,2057.509,-15749.633,35,1.0,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.0
$GPS2,133429,2057.497,-15749.693,16,0.9,16,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,303.4,29318,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.28,0.000,6,0.000,0.000,34,1935,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.5,13,118,9.55,2.28,0.00,0.000,4,0.225,0.044,2384,3378,3397,0,0,0,0,0,0
$GC,204,-0.74,-146.0,28.3,-17.5,31,211,0.00,2.25,0.00,0.000,6,0.000,0.043,2384,1971,3398,0,0,0,0,0,0
$GC,376,-0.74,-146.0,59.5,-15.6,62,384,0.00,2.30,0.00,0.000,4,0.000,0.059,2384,549,3399,0,0,0,0,0,0
$GC,534,-0.74,-146.0,83.8,-14.8,88,541,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1965,3399,0,0,0,0,0,0
$GC,869,-0.74,-146.0,122.0,-10.4,119,873,0.00,2.28,0.00,0.000,4,0.000,0.054,2375,544,3399,0,0,0,0,0,0
$GC,1001,-0.74,-146.0,140.0,-15.1,130,1008,0.10,2.17,0.00,0.000,6,0.147,0.034,2396,1959,3400,0,0,0,0,0,0
$GC,1329,-0.74,-146.0,176.7,-8.8,161,1333,0.00,2.28,0.00,0.000,4,0.000,0.052,2396,533,3401,0,0,0,0,0,0
$GC,1510,-0.74,-146.0,195.2,-10.8,177,1514,0.00,2.17,0.00,0.000,6,0.000,0.034,2388,1964,3401,0,0,0,0,0,0
$GC,1828,-0.74,-146.0,226.7,-9.3,194,1832,0.00,2.22,0.00,0.000,4,0.000,0.057,2378,3362,3402,0,0,0,0,0,0
$GC,1929,-0.74,-146.0,236.2,-9.4,198,1934,0.00,2.25,0.00,0.000,6,0.000,0.044,2377,1944,3402,0,0,0,0,0,0
$GC,2246,-0.74,-146.0,264.8,-9.3,214,2253,0.00,2.20,0.00,0.000,4,0.000,0.054,2378,539,3402,0,0,0,0,0,0
$GC,2496,-0.74,-146.0,291.9,-10.6,225,2501,0.12,2.17,0.00,0.000,6,0.168,0.036,2399,1965,3402,0,0,0,0,0,0
$GC,2822,-0.74,-146.0,313.1,-6.3,236,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1965,3401,0,0,0,0,0,0
$GC,3146,-0.74,-146.0,332.6,-6.2,244,3150,0.00,2.33,0.00,0.000,4,0.000,0.057,2400,541,3401,0,0,0,0,0,0
$GC,3404,-0.74,-146.0,353.5,-8.7,249,3409,0.00,2.17,0.00,0.000,6,0.000,0.037,2392,1962,3400,0,0,0,0,0,0
$GC,3738,-0.74,-146.0,377.4,-7.2,258,3742,0.00,2.30,0.00,0.000,4,0.000,0.058,2392,550,3399,0,0,0,0,0,0
$GC,3996,-0.74,-146.0,396.0,-6.4,263,4002,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1963,3397,0,0,0,0,0,0
$GC,4329,-0.74,-146.0,415.6,-5.7,272,4333,0.00,2.30,0.00,0.000,4,0.000,0.061,2382,550,3395,0,0,0,0,0,0
$GC,4407,-0.74,-146.0,420.5,-6.5,273,4412,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1954,3394,0,0,0,0,0,0
$GC,4738,-0.74,-146.0,444.2,-7.4,282,4742,0.00,2.30,0.00,0.000,4,0.000,0.064,2374,542,3392,0,0,0,0,0,0
$STATE,4805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4815,-0.17,0.0,450.3,9.1,283,4939,0.68,0.00,120.60,0.762,6,0.127,0.000,2579,1980,2800,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4940,begin climb
$GC,4942,0.74,146.0,453.8,0.0,286,5080,0.85,2.40,126.25,0.737,4,0.088,0.052,2868,3395,2202,0,0,0,0,0,0
$GC,5120,0.74,146.0,437.1,12.5,290,5124,0.00,2.33,0.00,0.000,6,0.000,0.043,2877,1980,2200,0,0,0,0,0,0
$GC,5433,0.74,146.0,398.2,12.6,298,5437,0.00,2.30,0.00,0.000,4,0.000,0.059,2886,573,2196,0,0,0,0,0,0
$GC,5494,0.74,146.0,390.0,13.2,299,5499,0.00,2.25,0.00,0.000,6,0.000,0.043,2886,1994,2195,0,0,0,0,0,0
$GC,5842,0.74,146.0,342.3,14.0,308,5846,0.00,2.20,0.00,0.000,4,0.000,0.053,2886,3390,2193,0,0,0,0,0,0
$GC,5893,0.74,146.0,334.8,15.0,309,5897,0.00,2.25,0.00,0.000,6,0.000,0.044,2896,1977,2192,0,0,0,0,0,0
$GC,6206,0.74,146.0,293.5,13.6,318,6210,0.00,2.25,0.00,0.000,4,0.000,0.059,2906,566,2191,0,0,0,0,0,0
$GC,6317,0.74,146.0,277.9,13.5,323,6321,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1990,2191,0,0,0,0,0,0
$GC,6639,0.74,146.0,237.6,11.9,339,6643,0.00,2.17,0.00,0.000,4,0.000,0.054,2906,3388,2190,0,0,0,0,0,0
$GC,6679,0.74,146.0,232.7,12.7,341,6683,0.15,2.25,0.00,0.000,6,0.142,0.046,2872,1973,2189,0,0,0,0,0,0
$GC,7005,0.74,146.0,198.1,10.8,357,7009,0.00,2.28,0.00,0.000,4,0.000,0.056,2872,3388,2188,0,0,0,0,0,0
$GC,7070,0.74,146.0,189.7,13.5,362,7077,0.00,2.25,0.00,0.000,6,0.000,0.044,2879,1982,2188,0,0,0,0,0,0
$GC,7397,0.74,146.0,154.6,10.7,393,7401,0.00,2.22,0.00,0.000,4,0.000,0.059,2890,570,2187,0,0,0,0,0,0
$GC,7459,0.74,146.0,147.7,11.4,398,7463,0.00,2.20,0.00,0.000,6,0.000,0.040,2890,1983,2187,0,0,0,0,0,0
$GC,7786,0.74,146.0,113.5,9.2,428,7790,0.00,2.20,0.00,0.000,4,0.000,0.051,2890,3394,2187,0,0,0,0,0,0
$GC,7882,0.74,146.0,103.0,10.8,436,7890,0.00,2.25,0.00,0.000,6,0.000,0.044,2898,1975,2187,0,0,0,0,0,0
$GC,8211,0.75,159.2,70.9,8.5,476,8231,0.00,2.25,9.73,0.462,4,0.000,0.058,2908,575,2150,0,0,0,0,0,0
$GC,8299,0.75,159.2,63.1,9.1,491,8304,0.00,2.17,0.00,0.000,6,0.000,0.039,2908,1980,2149,0,0,0,0,0,0
$GC,8630,0.75,159.2,29.9,10.6,552,8638,0.00,2.25,0.00,0.000,4,0.000,0.051,2908,3391,2149,0,0,0,0,0,0
$GC,8791,0.75,159.2,13.4,11.7,581,8798,0.08,2.22,0.00,0.000,6,0.117,0.040,2889,1978,2149,0,0,0,0,0,0
$STATE,8925,end climb,SURFACE_DEPTH_REACHED
$STATE,8925,begin surface coast
$FINISH,0.5,1.019281
$STATE,8984,end surface coast,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$SM_CCo,9002,62.90,0.440,0,0,1575,300.24
$SM_GC,1.28,0.00,0.00,62.90,0.000,0.000,0.440,33,1970,1575,-8.15,0.37,300.24
$IRIDIUM_FIX,2047.91,-15735.94,020902,131357
$TT8_MAMPS,0.027612
$HUMID,64.64
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.3,50.9
$24V_AH,24.6,34.499
$10V_AH,10.4,37.888
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.675,89.775,256.575,62.900,0.000,54.637,74.233,233.710,19.500,0.000,16.940,1166.614,5313.755,394.971,2137.522,618.170,0.000,1156.627,0.000,2079.101,0.000,123.186,0.000
$DEVICE_MAMPS,225.498,63.661,762.398,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.353,351.166,1207.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,35024,617
$CAP_FILE_SIZE,103501,0
$CFSIZE,260165632,235163648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080613,160647,2058.065,-15750.877,13,1.3,13,9.8